EP4014732A1 - Agricultural distributor and method for control and/or regulation of an agricultural distributor - Google Patents

Abstract

The invention relates to an agricultural spreading machine (10) and a method for controlling and/or regulating an agricultural spreading machine (10), preferably a field sprayer or pneumatic fertilizer spreader, with a carrier vehicle (16) with an inclination detection device (100) for detecting an inclination of the carrier vehicle (16), preferably transversely to the direction of travel (FR), and with a distribution linkage (12) with a plurality of linkage segments (14; 14a-14g), which are connected to one another by means of joints (26) and each by means of motorized actuating devices (28). ). In order to achieve folding of the distribution linkage (12) that is coordinated with inclinations of the carrier vehicle (16), the control device (120) is set up, depending on the detected inclination of the carrier vehicle (16), to provide actuating signals for the actuating devices (28) in such a way that that adjustment movements of the adjustment devices (28) are carried out in such a way that at least two linkage segments (14; 14a-14g) fold at least approximately synchronously and/or in a defined asynchronous manner relative to the central part (15).

Description

The invention relates to an agricultural spreading machine, preferably a field sprayer or pneumatic fertilizer spreader. The invention also relates to a method for controlling and/or regulating an agricultural spreader.

An agricultural distributor was, for example, by the DE 10 2013 221 468 A1 already known from the prior art. As a result, a distribution machine with a distribution linkage is known, the distribution linkage having a central part and two lateral booms connected to the central part by means of joints, which booms are composed of several linkage segments also connected by joints, the booms and the linkage segments each being controlled by means of motorized actuating elements can be folded into an unfolded working position and a folded transport position relative to one another and relative to the central part. In order to achieve the fastest possible folding of the distribution linkage that is independent of external influences, it is provided that the speeds of the actuating elements are each controlled in such a way that synchronous and angularly symmetrical folding occurs at all times.

However, such a synchronous and angularly symmetrical folding has sometimes turned out to be problematic in practice, since on slopes and with narrow lane widths of the carrier vehicle it can happen that an unfavorable center of gravity occurs and the distribution machine can thus tip over.

The object of the invention is therefore to provide a distribution machine by means of which folding out and folding in a distribution linkage can be controlled as a function of an inclination of a carrier vehicle, in particular can be controlled in such a way that there is always sufficient weight up the slope and tipping over is prevented can.

These objects are achieved by an agricultural spreader having the features of independent claim 1 and by a method having the features of method claim 16. Advantageous embodiments and developments of the invention are disclosed in the claims and the following description with partial reference to the figures.

The invention relates to an agricultural spreading machine, preferably a field sprayer or pneumatic fertilizer spreader.

The distribution machine comprises at least one carrier vehicle with an inclination detection device that is set up to detect an inclination of the carrier vehicle, preferably transversely to the direction of travel.

The distribution machine also includes at least one distribution linkage for spreading material, such as fertilizer, crop protection products or seed, with several linkage segments, which are connected to one another by means of joints and can each be folded relative to one another by means of motorized actuating devices into an unfolded working position and a folded up transport position, with at least one linkage segment forms a central part which is arranged (e.g. mounted) directly or indirectly on the carrier vehicle so that it can be moved (e.g. rotated, pivoted) at least about a pivot axis running in the direction of travel (e.g. formed by a rotary axis, pivot bearing, ball head and/or the like).

In addition, the distribution machine includes at least one control device for providing control signals for the control devices.

The distribution machine also includes at least one position detection device, which is set up to supply position signals to a control device based on the positions of the linkage segments (e.g. relative to the central part and/or to one another).

In order to provide a distribution machine by means of which the folding out and folding in of a distribution boom can be controlled depending on the inclination of a carrier vehicle, in particular can be controlled in such a way that there is always sufficient weight up the slope and tipping over is prevented, the invention provides that the control device is set up, depending on the detected inclination of the carrier vehicle, to provide control signals for the control devices in such a way that an execution of Adjusting movements of the adjusting devices takes place in such a way that an at least approximately synchronous and/or defined asynchronous folding of at least two linkage segments is performed relative to the central part.

As a result of the measures according to the invention, a distribution machine is created, by means of which folding or unfolding of linkage segments of a distribution linkage relative to one another, or relative to the central part, depending on a slope occurs at least approximately synchronously and/or defined asynchronously.

The invention makes use of the knowledge that if there is no slope, the distribution linkage folds at least approximately synchronously, since there is no unfavorable center of gravity that could cause the distributor machine to fall over and that if there is a slope, the distribution linkage folds takes place asynchronously in such a way that a shift in weight caused by a slope can be compensated for by an asynchronous flapping of the linkage segments and thus, in turn, the adjustment of the center of gravity prevents the distribution machine from tipping over or falling over.

According to the invention, it is possible for the control device to be set up to provide control signals according to the rule that the greater the inclination, the greater the differences between the defined asynchronous flaps.

It should be pointed out that, according to the present description, a synchronous or defined asynchronous refers to folding movements of linkage segments that are arranged on the left and right in the direction of travel relative to the middle part or on the middle part. However, this can also mean that the linkage segments do not have to be mounted directly on the central part by means of joints, but that further linkage segments can also be arranged in between. Accordingly, when synchronous or defined asynchronous folding is mentioned in the present document, this includes folding movements of at least one linkage segment that is arranged on the left in the direction of travel and of at least one linkage segment that is arranged on the right in the direction of travel opposite the middle part.

A preferred embodiment variant of the invention can provide that the control device is set up, depending on a detected inclination of the carrier vehicle, to carry out an assignment of the actuating device and/or the linkage segment, in particular to carry out such an assignment as to whether an actuating device and/or a linkage segment is located uphill or is downslope, preferably is upslope or downslope opposite the central portion. As a result of the assignment, a targeted asynchronous folding of the linkage segments can be carried out in order to achieve a required weight shift.

An assignment can be made, for example, in such a way that each actuating device is assigned at least one valve and the location of the actuating device on the distribution linkage is stored in the control device, preferably opposite the central part. Based on an inclination (e.g. to the left or to the right) of the chassis, the assignment can then be carried out using the control device.

According to one embodiment variant of the invention, it can be provided that at least approximately synchronous folding, preferably at least approximately symmetrical, in particular angularly symmetrical, folding of at least two linkage segments relative to the central part includes, with the control device being set up for this purpose to provide control signals for the control devices in such a way that adjusting movements of the adjusting devices are carried out in such a way that at least two position detection devices deliver position signals defined by at least largely identical positions. It should be noted here that the position signals each relate to relative positions, i.e. thus, for example, supply the same angle signals, which, however, can be negative or positive due to the arrangement.

In contrast, it is possible for a defined asynchronous folding, preferably an asymmetric folding, of at least two linkage segments relative to the central part, with the control device being set up for this purpose to provide control signals for the control devices in such a way that control movements of the control devices are carried out in such a way that at least two position detection devices supply position signals defined by different positions, preferably supply position signals defined by defined different positions. This means that, for example, the position detection devices deliver defined different angles, which means that the control device is set up to provide actuating signals for the actuating device in such a way that, for example, predetermined position signals corresponding to different angles are output.

According to a further development of the invention, a shift in weight can be achieved in particular by the fact that the control device is set up to send actuating signals for at least one upslope for the execution of a defined asynchronous flap To provide an adjusting device in such a way that adjusting movements are carried out by means of the adjusting device in such a way that when folding out, at least one linkage segment located upslope has a greater folding speed than at least one linkage segment located downslope and that when folding in, at least one linkage segment located upslope has a higher folding speed has a lower folding speed than at least one linkage segment located down the slope.

The folding speed can include a period of time between the start of the unfolding process and/or the folding process and the end of the unfolding process and/or the folding process, i.e. a period of time between reaching the end positions. Changing folding speeds can also be taken into account here.

According to one embodiment variant of the invention, it is possible for the control device to be set up to provide actuating signals for the actuating devices in such a way that actuating movements of the actuating devices are carried out at such traversing speeds that the linkage segments have at least approximately the same Have folding speed to each other.

As an alternative or in addition, it is possible for the control device to be set up to provide actuating signals for the actuating devices in such a way that actuating movements of the actuating devices are carried out at such travel speeds that the linkage segments have at least approximately the same angular position relative to one another in order to carry out at least approximately synchronous flaps exhibit.

Alternatively or in addition, it is possible for the control device to be set up to provide actuating signals for the actuating devices in order to carry out at least approximately synchronous flaps in such a way that actuating movements of the actuating devices are started to be carried out at least largely simultaneously.

According to one embodiment variant of the invention, it is possible that for the execution of a defined asynchronous flap, the control device is set up to provide actuating signals for the actuating devices in such a way that actuating movements of the actuating devices are carried out at such different travel speeds that the linkage segments have different folding speeds relative to one another .

Alternatively or in addition, it is possible for the control device to be set up to provide control signals for the control devices in such a way that control movements of the control devices are carried out with such different travel speeds that the linkage segments have different angular positions relative to one another in order to execute a defined asynchronous flap.

Alternatively or additionally, it is possible that for the execution of a defined asynchronous flap, the control device is set up to provide actuating signals for the actuating devices in such a way that an execution of actuating movements of the actuating devices is started with a defined (e.g. freely definable) time offset. It is also conceivable that the time offset is different as a function of the inclination, ie it can vary and/or that a defined time offset is assigned to each inclination.

Alternatively or additionally, it is possible that for the execution of a defined asynchronous flap, the control device is set up to provide actuating signals for the actuating device in such a way that actuating movements are carried out in partial steps, so that a linkage segment located uphill is only folded up after a downhill the linkage segment located has been folded up (e.g. has reached an end position). It can be unfolded in a reverse order.

According to the invention, it is thus possible in each case that travel speeds of the actuating devices can be controlled and/or regulated using an inclination of the carrier vehicle. The actuating devices can be controlled and/or regulated, for example, as fluid cylinders (e.g. pneumatic cylinders or hydraulic cylinders) and the traversing speed can be controlled and/or regulated, for example, by volume flow control, which means that the traversing speed is based on a quantity of fluid which is supplied to and/or removed from the actuating device is controlled and/or can be regulated. So-called flow dividers can also be used for synchronous flaps.

According to a preferred embodiment of the invention, it is possible for a defined asynchronous folding to take place in such a way that the width of the linkage segments located up the slope is always greater than the width of the linkage segments located down the slope compared to the central part.

In order to further improve the execution of an at least approximately synchronous flap and/or a defined asynchronous flap, according to a development of the invention, it can be provided that in the control device defined by inclinations of the host vehicle, preferably defined by ranges of inclinations of the host vehicle, target specifications for Travel speeds, angular positions and/or a defined time offset for at least approximately synchronous and/or defined asynchronous folding are stored, with the control device being set up to provide actuating signals for the actuating devices as a function of the setpoint specifications and of position signals supplied by the position detection device. In this way, in particular, different inclinations, ie slope gradients, can be taken into account.

Target specifications can be stored here, for example, manually by an operator and/or by signal transmission from a database, for example. Target specifications can also be specified or specified by the manufacturer of the distribution machine.

According to a preferred embodiment variant, the distribution linkage comprises at least five linkage segments or at least seven linkage segments, the control device being set up, depending on the detected inclination of the carrier vehicle, to provide control signals for the control devices in such a way that control movements of the control devices for a defined asynchronous folding are carried out in such a way that that an at least approximately synchronous folding of at least two linkage segments relative to the central part is performed and a defined asynchronous folding of at least two linkage segments relative to a further rod segment is performed and/or that a defined asynchronous folding of at least two linkage segments relative to the central part is performed and an at least approximately synchronous folding of at least two linkage segments is performed in relation to a further linkage segment. Thus, on the one hand, a defined shift in weight can be achieved and, on the other hand, a quick unfolding process and/or folding process can nevertheless be achieved.

Alternatively or additionally, it is possible for the control device to be set up to provide actuating signals for the actuating devices in such a way that actuating movements of the actuating devices for at least approximately synchronous and/or defined asynchronous flaps are carried out as a function of position signals supplied by the position detection device.

The linkage segments can be folded relative to one another by means of joints and by means of motor-driven adjusting devices with a swivel angle of 180° or 90° into an unfolded working position and a folded-up transport position, with the joints preferably being formed by axes of rotation which are oriented essentially upright in the working position.

According to a particularly preferred embodiment variant of the invention, it is possible for limit values for inclinations of the carrier vehicle to be defined and/or definable and for the control device to be set up, depending on a detected inclination of the carrier vehicle and depending on limit values for inclinations of the carrier vehicle, actuating signals for the actuating devices in this way to provide that adjustment movements of the adjustment devices are carried out in such a way that, if the limit value is not reached, at least two linkage segments are folded at least approximately synchronously relative to the central part, and that if the limit value is reached or exceeded, at least two linkage segments are folded in a defined asynchronous manner is carried out to the middle part.

Alternatively or additionally, it is possible that limit values for inclinations of the carrier vehicle can be entered or read in manually and/or are defined by a machine geometry of the carrier vehicle, in particular a lane of a chassis assigned to the carrier vehicle and/or by the machine geometry of the distribution linkage, in particular by a width the boom segments. In addition, it would also be conceivable to take into account the filling level of a reservoir.

In order to achieve the lowest possible center of gravity of the distribution machine when unfolding and/or folding, it can be provided that the central part is mounted on the carrier vehicle so that it can be adjusted in height by means of a height adjustment device that can be controlled and/or regulated by means of the control device, with the control device being set up to control - and/or provide control signals for the height adjustment device as a function of position signals supplied by the position detection device. It can thus be achieved that a vertical position of the distribution linkage is kept as low as possible for as long as possible and the weight shift is thus improved even further.

In order to enable folding that is as quick and yet quiet, ie gentle, as possible, it can be provided that the control device is set up to output actuating signals for the actuating devices as a function of position signals supplied by the position detection device provide that an execution of adjusting movements of the adjusting devices takes place with such changing travel speeds that a travel speed is reduced before reaching an end position of the rod segments in the unfolded working position or in the folded transport position. In this case, it is possible for the control device to be set up to control the actuating device with a control ramp; position-dependent volume flow regulation would also be conceivable.

In order to avoid collisions during folding, it is possible for a rotational position of the central part about the pivot axis running in the direction of travel to be changed or locked (e.g. locked) directly or indirectly by means of one or more actuators, with the control device being set up to transmit control signals for the control devices taking into account a defined and/or definable rotational position, preferably in such a way that adjustment movements are only carried out when the rotary position of the distribution linkage is oriented at least largely parallel to a reference surface and/or when the rotary position of the distribution linkage is oriented perpendicularly to the carrier vehicle.

It is possible for the control device to include a display device (e.g. terminal, mobile end device and/or the like) and/or to be and/or be signal-connected to such a display device, which is set up to issue a warning (e.g. optically) depending on the inclination of the carrier vehicle , acoustic, haptic).

The agricultural spreading machine, preferably the field sprayer or the pneumatic fertilizer spreader, can be designed as a self-propelled spreading machine or as a one towed by a towing vehicle (e.g. tractor) or attached to a towing vehicle (e.g. by means of a 3-point hitch) with expediently a distribution linkage . The distribution machine can also be an autonomous (e.g. semi-autonomous or fully autonomous) agricultural distribution machine.

The distribution machine expediently comprises a carrier vehicle with, for example, a chassis (e.g. formed by a frame construction) and a running gear.

For the purpose of distributing the material, spray nozzles, impact elements and/or the like are assigned to the distribution linkage or the linkage segments.

The inclination detection device and/or the control device can be set up to determine a slope from a detected inclination of the carrier vehicle, particularly expediently such as to determine whether the carrier vehicle is inclined to the right or left in relation to the direction of travel.

The inclination detection device expediently comprises one or more sensors that detect an inclination and are assigned to the carrier vehicle of the distribution machine, preferably to the chassis.

For example, one or more inclination sensors can be used as the inclination detection device, which, for example, measure the angle (inclination) of an object (carrier vehicle) to gravity. Alternatively or in addition, one or more acceleration-compensated inclination sensors can also be used. Yaw rate sensors (e.g. in the form of a gyroscope) and/or acceleration sensors (e.g. in the form of acceleration sensors) and/or the like can also be used.

According to an alternative or supplementary embodiment variant, it is conceivable that the wheels of the chassis, i.e. a height (e.g. inclination of the carrier vehicle transversely to the direction of travel) of the carrier vehicle, is height-adjustable and/or spring-loaded, e.g. by means of actuators (e.g. one or more hydraulic and /or pneumatically operated (r) single or double-acting (r) cylinders) is height-adjustable and/or springy. It is conceivable according to such an embodiment variant that the inclination detection device is formed by one or more sensors coupled to the actuators. The sensors can be formed, for example, by pressure sensors (e.g. for detecting a cylinder pressure) and/or position sensors (e.g. displacement measuring system coupled to the cylinder), in which case the control device can be set up to draw conclusions about an inclination based on a pressure and/or a position. It would thus also be conceivable, for example, to implement a defined asynchronous flap in such a way that a defined and/or definable pressure level in the actuators and/or a defined and/or definable position of the actuators is achieved and/or maintained.

The position detection device can be formed by angle sensors and/or rotary potentiometers that are expediently coupled to two linkage segments and/or by displacement measuring systems assigned to the actuating device and/or the like.

The rotational position of the central part can be changed directly or indirectly about a pivot axis running in the direction of travel by means of one or more actuators (e.g. one or more hydraulically and/or pneumatically operated single or double-acting cylinders). or be lockable. According to this embodiment variant, it is also possible for the position detection device to be formed by one or more sensors coupled to the actuators. The sensors can be formed, for example, by pressure sensors (e.g. for detecting a cylinder pressure) and/or position sensors (e.g. displacement measuring system coupled to the cylinder) and set up to supply position signals to the control device based on a pressure and/or a position. It would thus also be conceivable, for example, to implement a defined asynchronous flap in such a way that a defined and/or definable pressure level in at least one actuator and/or a defined and/or definable position of at least one actuator is achieved and/or maintained.

The control device has, for example, a computer unit, an on-board computer and/or the like with a control and/or regulation program which is expediently designed to provide control signals. The control device also includes a control and/or regulating circuit, in particular a hydraulic and/or pneumatic and/or electrical control and/or regulating circuit, the control and/or regulating circuit expediently being used for the hydraulic and/or pneumatic and/or electrical signal - And / or command transmission is formed. Which signal and/or command transmission can also take place wirelessly (e.g. via WLAN).

In the context of the invention, the concept of the control device includes, in particular, the entirety of the components for signal and/or command transmission. Correspondingly, control devices integrated in the respective sensors or sensor units or sensor arrangements are also included. It should also be pointed out that the signals and/or data from the sensors/measuring devices/detection devices and/or the like can each be used as feedback for a controlled and/or regulated variable.

It should also be pointed out that the terms "control" and "regulation" and "control device" can refer to electronic and/or pneumatic and/or hydraulic controls or regulations which, depending on the training, can take on control tasks and/or regulation tasks. Even if the term “control” is used here, it can also appropriately include “rules” as it were. Likewise, when using the term "rules" a "control" can also be included.

In order to avoid repetition, features disclosed in connection with the distribution machine should also apply and be claimable according to the method disclosed. The aforementioned aspects and features and variants of the invention, in particular with regard to the distribution machine also apply to the process and can be freely combined with one another in any way. The same applies in reverse, so that all aspects, features according to the invention and design variants that are disclosed in connection with the method are also disclosed for the distribution machine and can be claimed accordingly.

To solve the tasks, the invention also includes a method for controlling and/or regulating an agricultural spreading machine, preferably a field sprayer or a pneumatic fertilizer spreader. With at least one carrier vehicle, with an inclination detection device that is set up to detect an inclination of the carrier vehicle, preferably transverse to the direction of travel. As well as having at least one distribution linkage for spreading material, such as fertilizers, crop protection products or seeds, with several linkage segments which are connected to one another by means of joints and can each be folded relative to one another by means of motorized actuating devices into an unfolded working position and a folded up transport position, with at least one linkage segment having a central part forms which is arranged directly or indirectly on the carrier vehicle so that it can move at least about a pivot axis running in the direction of travel,

Also comprising at least one control device for providing control signals for the control devices.

In addition, at least comprising a position detection device, which is set up to supply position signals to a control device based on the positions of the linkage segments.

The method is characterized by the provision of actuating signals for the actuating devices as a function of a detected inclination of the carrier vehicle in such a way that actuating movements are carried out by means of the actuating devices in such a way that at least approximately synchronous and/or defined asynchronous folding of at least two linkage segments relative is carried out to the middle part.

Figur 1A

eine Perspektivansicht einer Ausführungsvariante einer Verteilmaschine, in Form einer Feldspritze, mit einem zusammengeklappten, eine Transportstellung aufweisenden Verteilgestänge,

Figur 1B

eine Perspektivansicht der Verteilmaschine gemäß der Figur 1A mit einem ausgeklappten, eine Arbeitsstellung aufweisenden Verteilgestänge,

Figur 1C

eine Detailansicht einer mittelbaren Anordnung des Verteilgestänge, insbesondere des Mittelteils, an einem Trägerfahrzeug einer Verteilmaschine gemäß der Figur 1B,

Figur 1D

eine Rückansicht der Verteilmaschine gemäß der Figur 1B.

Figur 1E

eine Draufsicht der Verteilmaschine gemäß der Figur 1B,

Figur 2A

eine Rückansicht einer Ausführungsvariante einer Verteilmaschine, in Form einer Feldspritze, wessen Trägerfahrzeug nach links geneigt ist, mit einem Verteilgestänge welches fünf Gestängesegmente umfasst und welches, aufgrund der Neigung, sich in einer definiert asynchronen Klappstellung befindet,

Figur 2B

eine Draufsicht der Verteilmaschine gemäß der Figur 2A,

Figur 3A

ein Rückansicht einer Ausführungsvariante einer Verteilmaschine, in Form einer Feldspritze, wessen Trägerfahrzeug nicht geneigt ist, mit einem Verteilgestänge welches sieben Gestängesegmente umfasst und welches aufgrund einer geraden Ausrichtung des Trägerfahrzeug sich in einer zumindest annähernd synchronen Klappstellung befindet,

Figur 3B

eine Draufsicht der Verteilmaschine gemäß der Figur 3A.

Further details and advantages of the invention are described below with reference to the accompanying drawings. The proportions of the individual elements to one another in the figures do not always correspond to the real proportions, since some forms are shown in simplified form and other forms are shown enlarged in relation to other elements for better illustration. Show it:

Figure 1A

a perspective view of an embodiment variant of a distribution machine, in the form of a field sprayer, with a folded-up distribution linkage in a transport position,

Figure 1B

a perspective view of the distribution machine according to FIG Figure 1A with an unfolded distribution linkage in a working position,

Figure 1C

a detailed view of an indirect arrangement of the distribution linkage, in particular the middle part, on a carrier vehicle of a distribution machine according to the Figure 1B ,

Figure 1D

a rear view of the distribution machine according to FIG Figure 1B .

Figure 1E

a top view of the distribution machine according to FIG Figure 1B ,

Figure 2A

a rear view of an embodiment of a distribution machine, in the form of a field sprayer, whose carrier vehicle is inclined to the left, with a distribution linkage which comprises five linkage segments and which, due to the inclination, is in a defined asynchronous folding position,

Figure 2B

a top view of the distribution machine according to FIG Figure 2A ,

Figure 3A

a rear view of an embodiment variant of a distribution machine, in the form of a field sprayer, whose carrier vehicle is not inclined, with a distribution linkage which comprises seven linkage segments and which is in an at least approximately synchronous folding position due to the straight alignment of the carrier vehicle,

Figure 3B

a top view of the distribution machine according to FIG Figure 3A .

The in the Figures 1 to 3 The embodiments shown correspond at least in part, so that similar or identical parts are provided with the same reference numbers and, for their explanation, reference is also made to the description of the other embodiments or figures in order to avoid repetition. The illustrated embodiments only represent examples of how the distribution machine according to the invention and the method according to the invention can be designed and implemented and do not represent any final limitation.

It should be pointed out in advance that, according to the present description of the figures, a synchronous or defined asynchronous is based on folding movements of linkage segments 14; 14a-14g, which are arranged on the left and right in the direction of travel FR in relation to the central part 15 or on the central part 15. However, as can be seen from the figures, this can also include that the linkage segments 14; 14a-14g do not have to be mounted directly on the central part 15 by means of joints 26, but that further linkage segments 14; 14a-14g may be interposed therebetween. Accordingly, when synchronous or defined asynchronous folding is discussed in the present document, this includes folding movements of at least one linkage segment 14; 14a-14g in the direction of travel FR on the left and of at least one linkage segment 14; 14a-14g, which is arranged on the right opposite the central part 15 in the direction of travel FR.

A variant of an agricultural distribution machine 10, for example. In the form of a sprayer show the Figures 1A to 1E . Whereby Figure 1A here shows a perspective view of a distribution machine 10 with a folded distribution linkage 12 having a transport position and FIG Figure 1B shows a perspective view of a distribution machine 10 with a distribution linkage 12 having a working position. In addition, the Figure 1D a rear view and Figure 1E a plan view of the distribution machine 10 according to FIG Figure 1B .

It should be pointed out that even if the present description of the figures shows a distribution machine 10 in the form of a field sprayer, the distribution machine 10 could preferably also be a pneumatic fertilizer spreader with a corresponding distribution linkage 12 .

The distribution machine 10 or the field sprayer is designed as a distribution machine 10 pulled by a towing vehicle (not shown here). However, the present invention could also be applied to spreaders that are self-propelled or mounted on a towing vehicle.

The distribution machine 10 comprises a carrier vehicle 16 which is composed of a chassis 18 (for example a frame construction) and a running gear 20 expediently. The carrier vehicle 16 also includes a connecting device 22 for connecting the distribution machine 10 to a towing vehicle, not shown here, as well as at least one storage container 24 for carrying and providing at least one material to be spread.

The carrier vehicle 16 (e.g. the chassis 18) is assigned an inclination detection device 100, which is set up to detect an inclination of the carrier vehicle 16, preferably transversely to the direction of travel FR.

For spreading material, such as fertilizers, pesticides or seeds, the distribution machine 10 includes a distribution linkage 12 with a plurality of linkage segments 14, according to the figures 1 with five linkage segments 14a-14e. Spray nozzles, for example, can be assigned to the linkage segments 14, 14a-14e for distributing the material.

The multiple linkage segments 14 are connected to one another by means of joints 26 and each by means of motorized actuating devices 28 (according to figure 1 only two shown for the sake of clarity) into an unfolded working position (cf. Figure 1B ) and a folded transport position (cf. Figure 1A ) foldable to each other. The actuating devices 28 can be formed, for example, by hydraulically and/or pneumatically operated cylinders. Electrically operated control devices 28 would also be conceivable.

As can be seen from the figures, at least one linkage segment 14 forms a central part 15, which is arranged indirectly on the carrier vehicle 16 so that it can be moved (e.g. rotated) at least about a pivot axis 30 running in the direction of travel FR. An indirect arrangement according to the figures means that a support frame 32 is provided between the carrier vehicle 16 and the central part 15 . It would also be conceivable to attach the distribution linkage 12 or the central part 15 directly to the carrier vehicle 16 and, for example, to dispense with an intermediate support frame 32 .

The distribution machine 10 also includes a plurality of position detection devices 110 which are set up to supply position signals to a control device 120 based on the positions of the linkage segments 14 relative to one another. The control device 120 is set up to provide control signals for the control devices 28 .

According to the invention, it is provided that the control device 120 is set up to provide actuating signals for the actuating devices 28 as a function of the detected inclination of the carrier vehicle 16 in such a way that actuating movements of the actuating devices 28 are carried out in such a way that at least approximately synchronous and/or defined asynchronous folding of at least two linkage segments 14 relative to the central part 15 is performed.

As a result of the measures according to the invention, a distribution machine 10 is created, by means of which folding or unfolding of linkage segments 14 of a distribution linkage 12 relative to one another, or relative to the central part 15, is at least approximately synchronous, depending on the slope (cf. Figures 3 ) and/or defined asynchronously (cf. figures 2 ) he follows.

As in particular from the detailed view of Figure 1C it is possible for central part 15 to be mounted indirectly on carrier vehicle 16 in a height-adjustable manner by means of a height adjustment device 130 that can be controlled and/or regulated by means of control device 120, with control device 120 being set up to transmit control and/or regulation signals for height adjustment device 130 in Provide a function of position signals supplied by means of the position detection device 110, as a result of which the center of gravity of the distributor machine 10 is as low as possible. This means that, for example, the distribution linkage 12 is only raised if a collision of the distribution linkage 12 or of a linkage segment 14 with, for example, the storage container 24 could occur. Thus, for example, when collapsing, the distribution linkage can only be raised when it is in a folded position as is shown, for example, in accordance with FIG Figure 3B available.

According to the exemplary embodiments, the height adjustment device 130 can be formed by at least one linear drive (e.g. hydraulically and/or pneumatically operated cylinder).

Further details of the invention go from the Figures 2A and 2 B as well as the Figures 3A and 3B emerge, which are described below with joint reference.

Figure 2A shows a rear view of an embodiment of a distribution machine 10, in the form of a field sprayer, whose carrier vehicle 16 is tilted to the left by driving along a slope 50, with a distribution linkage 12 which has five linkage segments 14; 14a-14e and which is in a defined asynchronous folding position due to the inclination. Accordingly, the Figure 2B a plan view of the distribution machine 10 according to FIG Figure 2A .

Figure 3A shows a rear view of an embodiment variant of a distribution machine 10, in the form of a field sprayer, whose carrier vehicle 16 is not inclined, with a distribution linkage 12 which has seven linkage segments 14; 14a-14g and which is in an at least approximately synchronous folding position due to a straight alignment of the carrier vehicle 16. Accordingly, the Figure 3B a plan view of the distribution machine 10 according to FIG Figure 3A .

The agricultural distribution machine 10 comprises a carrier vehicle 16 with an inclination detection device 100 which is set up to detect an inclination of the carrier vehicle 16, preferably transversely to the direction of travel FR.

The agricultural distribution machine 10 also includes a distribution linkage 12 for spreading material, such as fertilizers, pesticides or seeds, with a plurality of linkage segments 14; 14a-14g, which are connected to one another by means of joints 26 and can each be folded relative to one another by means of motorized actuating devices 28 into an unfolded working position and a folded-up transport position, with at least one linkage segment 14; 14a-14g forms a central part 15. It should also be noted that, for the sake of clarity, only a reduced number of actuating devices 28 is shown in each case.

In addition, several position detection devices 110 are provided, which are set up on the basis of positions of the linkage segments 14; 14a-14g to each other to supply position signals to a control device 120.

How from the figures 2 and 3 shows, it is provided according to the invention that the control device 120 is set up to provide actuating signals for the actuating devices 28 as a function of the detected inclination of the carrier vehicle 16 in such a way that actuating movements of the actuating devices 28 are carried out in such a way that an at least approximately synchronous (cf. Figures 3 ) and/or defines asynchronous (cf. figures 2 ) folding of at least two linkage segments 14; 14a-14g relative to the central part 15.

The linkage segments 14 can be folded into an unfolded working position and a folded-up transport position by means of joints 26 and each by means of motorized adjusting devices 28 with a pivoting angle of 180° (e.g. two linkage segments 14 to one another) or 90° (e.g. two linkage segments 14 relative to the central part 15). , wherein the joints 28, according to the exemplary embodiments, are formed by axes of rotation which are oriented essentially upright in the working position.

It is possible for the control device 120 to be set up, depending on a detected inclination of the carrier vehicle 16, to carry out an assignment of the actuating device 28 and/or the linkage segment 14, in particular to carry out such an assignment as to whether an actuating device 28 and/or a linkage segment 14 is located uphill 52 or is located downhill 54, preferably opposite the central portion 15 uphill 52 or downhill 54 located. As a result of the assignment, a targeted asynchronous folding of the linkage segments 14 can be carried out in such a way that a folding process uphill 54 is carried out more slowly, for example.

How from the figures 2 shows that when folding out or folding in on a slope 50, a defined asynchronous folding of at least two linkage segments 14; 14a-14e is performed relative to the middle part 15 or according to the figures 2 from all linkage segments 14; 14a-14e relative to the central part. It should be noted here that the respective asynchronously folded linkage segments 14; 14a-14e do not have to be coupled directly to the central part 15, but can also be arranged further on the outside.

It is also conceivable that in the case of a defined asynchronous flap, at least two linkage segments 14 are folded at least approximately synchronously with one another, but other linkage segments 14 are folded in a defined asynchronous manner with respect to one another.

A defined asynchronous folding expediently includes in particular such a folding that, compared to the central part 15, a width of the linkage segments 14 located upslope 52 is always greater than a width of the linkage segments 14 located downslope 54.

How from the Figures 3 it can be provided that an at least approximately synchronous folding, preferably an at least approximately symmetrical, in particular angularly symmetrical, folding of at least two linkage segments 14 relative to the central part 15 includes, wherein the control device 120 is set up for this purpose to provide control signals for the control devices 28 in such a way that an execution of adjustment movements of the adjustment devices 28 takes place in such a way that at least two position detection devices 110 deliver position signals defined by at least largely identical positions. It should be noted that as from the figure 3 shows that the position signals each relate to relative positions, ie thus, for example, supply the same angle signals, which, however, can be negative or positive due to the arrangement (to the left or right of central part 15).

In contrast, it is according to the figures 2 possible that a defined asynchronous folding, preferably an asymmetric folding of at least two linkage segments 14 relative to the central part 15 comprises, according to the figure 2 However, an asymmetric flaps of all linkage segments 14 relative to the middle part 15, wherein the control device 120 is set up for this purpose to provide control signals for the control devices 28 such that a Execution of adjusting movements of the adjusting devices 28 takes place in such a way that at least two position detection devices 110 supply position signals defined by different positions, preferably supply position signals defined by defined different positions. This means that, for example, the position detection devices 110 must supply different, defined angles and the actuating devices 28 are controlled and/or regulated accordingly.

According to the Figures 3 it is possible for control device 120 to be set up to provide actuating signals for actuating devices 120 in such a way that actuating movements of actuating devices 28 are carried out at travel speeds such that rod segments 14 have at least approximately the same folding speed in order to carry out an at least approximately synchronous flap have to each other and / or have an at least approximately the same angular position to each other. This means that, for example, in the case of synchronous folding, linkage segments opposite the central part 15 (eg 14a to 14g and 14b to 14f and 14c to 14e) have the same angular positions.

According to the figures 2 For example, it is possible for control device 120 to be set up to provide actuating signals for actuating devices 28 in order to carry out a defined asynchronous flap in such a way that actuating movements of actuating devices 28 are carried out at different travel speeds such that rod segments 14 have different folding speeds relative to one another and / or have different angular positions to each other. This means that, for example, in the case of a defined asynchronous folding, linkage segments opposite the center part 15 (eg 14a to 14e and 14b to 14d) have different angular positions.

Although the invention has been described with reference to specific embodiments, it will be apparent to those skilled in the art that various changes may be made and equivalents substituted without departing from the scope of the invention. In addition, many modifications can be made without leaving the associated area. Accordingly, the invention should not be limited to the disclosed embodiments, but should include all embodiments falling within the scope of the appended claims. In particular, the invention also claims protection for the subject matter and the features of the subclaims independently of the claims referred to.

Reference list:

10

distribution machine, field sprayer

12

distribution linkage

14, 14a-14g

linkage segment

15

center part

16

carrier vehicle

18

chassis

20

landing gear

22

connecting device

24

reservoir

26

joint

28

adjusting device

30

pivot axis

32

carrying frame

50

hillside

52

uphill

54

downhill

100

tilt detection device

110

position detection device

120

control device

130

height adjustment device

FR

driving direction

Claims (16)

Agricultural spreading machine (10), preferably field sprayer or pneumatic fertilizer spreader, at least comprising - a carrier vehicle (16), with an inclination detection device (100), which is set up to detect an inclination of the carrier vehicle (16), preferably transversely to the direction of travel (FR), - A distribution linkage (12) for spreading material, such as fertilisers, pesticides or seeds, with a plurality of linkage segments (14; 14a-14g) which are connected to one another by means of joints (26) and which can each be moved into an unfolded working position by means of motorized actuating devices (28). and a folded-up transport position can be folded together, with at least one linkage segment (14; 14a-14g) forming a central part (15) which is arranged directly or indirectly on the carrier vehicle (16) so that it can be moved at least about a pivot axis (30) running in the direction of travel (FR). is, - a control device (120) for providing control signals for the control devices (28), - a position detection device (110) which is set up to supply position signals to the control device (120) on the basis of positions of the linkage segments (14; 14a-14g),
characterized in that the control device (120) is set up, depending on the detected inclination of the carrier vehicle (16), to provide control signals for the control devices (28) in such a way that control movements of the control devices (28) are carried out in such a way that an at least approximately synchronous and/or defined asynchronous folding of at least two linkage segments (14; 14a-14g) relative to the central part (15) is carried out. Distribution machine (10) according to Claim 1, characterized in that the control device (120) is set up to carry out an assignment of the actuating device (28) and/or the linkage segment (14; 14a-14g) depending on a detected inclination of the carrier vehicle (16). , in particular whether an adjusting device (28) and/or a linkage segment (14; 14a-14g) is located uphill (52) or downhill (54), preferably uphill (52) or downhill opposite the central part (15). (54) is located. Distribution machine (10) according to any one of the preceding claims, characterized in that - at least approximately synchronous folding, preferably at least approximately symmetrical, in particular angularly symmetrical, folding of at least two linkage segments (14; 14a-14g) relative to the central part (15), - wherein the control device (120) is set up for this purpose to provide actuating signals for the actuating devices (28) in such a way that actuating movements of the actuating devices (28) are carried out in such a way that at least two position detection devices (110) supply position signals defined by at least largely identical positions. Distribution machine (10) according to any one of the preceding claims, characterized in that - includes a defined asynchronous folding, preferably an asymmetric folding of at least two linkage segments (14; 14a-14g) relative to the central part (15), - wherein the control device (120) is set up for this purpose to provide actuating signals for the actuating devices (28) in such a way that actuating movements of the actuating devices (28) are carried out in such a way that at least two position detection devices (110) supply position signals defined by different positions, preferably by defined different layers deliver defined position signals. Spreading machine (10) according to one of the preceding claims, characterized in that for the execution of a defined asynchronous flap, the control device (120) is set up to provide actuating signals for at least one actuating device (28) arranged uphill (52) in such a way that an execution of adjusting movements by means of the adjusting device (28) takes place in such a way - that when unfolding, at least one linkage segment (14; 14a-14g) located upslope (52) has a greater folding speed than at least one linkage segment (14; 14a-14g) located downslope (54) and - that when folding in, at least one linkage segment (14; 14a-14g) located upslope (52) has a lower folding speed than at least one linkage segment (14; 14a-14g) located downslope (54). Distribution machine (10) according to one of the preceding claims, characterized in that for the execution of an at least approximately synchronous flap, the control device (120) is set up to provide control signals for the control devices (28n) in such a way - that an execution of adjusting movements of the adjusting devices (28) takes place with such travel speeds that the linkage segments (14; 14a-14g) have an at least approximately equal folding speed to one another and/or - that an execution of adjusting movements of the adjusting devices (28) takes place at such speeds that the linkage segments (14; 14a-14g) have an at least approximately identical angular position to one another, and/or - That an execution of adjusting movements of the adjusting devices (28) is started at least largely simultaneously. Distribution machine (10) according to one of the preceding claims, characterized in that for the execution of a defined asynchronous flap, the control device (120) is set up to provide control signals for the control devices (28) in such a way - that an execution of adjusting movements of the adjusting devices (28) takes place with such different travel speeds that the linkage segments (14; 14a-14g) have different folding speeds to each other and / or - that an execution of adjusting movements of the adjusting devices (28) takes place with such different travel speeds that the linkage segments (14; 14a-14g) have different angular positions to each other and / or - that an execution of adjusting movements of the adjusting devices (28) is started with a defined time offset and/or - that adjustment movements are carried out in partial steps, so that a linkage segment (14; 14a-14g) located upslope (52) is only folded up after a linkage segment (14; 14a-14g) located downslope (54) has been folded up. Distribution machine (10) according to one of claims 6 or 7, characterized in that in the control device (120) defined by inclinations of the carrier vehicle (16), preferably defined by ranges of inclinations of the carrier vehicle (16), - Target specifications for travel speeds, angular positions and/or a defined time offset for at least approximately synchronous and/or defined asynchronous folding are stored, - Wherein the control device (120) is set up to provide actuating signals for the actuating devices (28) as a function of the target specifications and by means of the position detection device (110) supplied position signals. Distribution machine (10) according to any one of the preceding claims, characterized in that - the distribution linkage (12) comprises at least five linkage segments (14; 14a-14g) or at least seven linkage segments (14; 14a-14g), - wherein the control device (120) is set up, depending on the detected inclination of the carrier vehicle (16), to provide control signals for the control devices (28) in such a way that control movements of the control devices (28) are carried out for a defined asynchronous folding in such a way, - that an at least approximately synchronous folding of at least two linkage segments (14; 14a-14g) relative to the central part (15) is carried out and a respectively defined asynchronous folding of at least two linkage segments (14; 14a-14g) relative to a further linkage segment (14 ; 14a-14g), is executed and/or - that a defined asynchronous folding of at least two linkage segments (14; 14a-14g) relative to the central part (15) is performed and an at least approximately synchronous folding of at least two linkage segments (14; 14a-14g) relative to a further linkage segment (14; 14a-14g) is executed. Distribution machine (10) according to one of the preceding claims, that the control device (120) is set up to provide actuating signals for the actuating devices (28) as a function of position signals supplied by the position detection device (110) in such a way that an execution of actuating movements of the actuating devices (28) takes place with such changing travel speeds that a travel speed is reduced before reaching an end position of the linkage segments (14; 14a-14g) in the folded-out working position or in the folded-up transport position. Distribution machine (10) according to any one of the preceding claims, characterized in that - limit values for inclinations of the carrier vehicle (16) are defined and/or can be defined and the control device (120) is set up, - to provide actuating signals for the actuating devices (28) as a function of a detected inclination of the carrier vehicle (16) and as a function of limit values for inclinations of the carrier vehicle (16) in such a way that actuating movements of the actuating devices (28) are carried out in such a way that - that when the limit value is not reached, at least two linkage segments (14; 14a-14g) are folded at least approximately synchronously relative to the central part (15) and - that when the limit value is reached or exceeded, a defined asynchronous folding of at least two linkage segments (14; 14a-14g) relative to the central part (15) is performed. Distributing machine (10) according to Claim 11, characterized in that limit values for inclinations of the carrier vehicle (16) can be entered or read in manually and/or are defined by - a machine geometry of the carrier vehicle (16), in particular a lane of a chassis assigned to the carrier vehicle (16) and/or - The machine geometry of the distribution linkage (12), in particular by a width of the linkage segments (14; 14a-14g). Distribution machine (10) according to one of the preceding claims, characterized in that the central part (15) is mounted on the carrier vehicle (16) so that it can be adjusted in height by means of a height adjustment device (130) which can be controlled and/or regulated by means of the control device (120), - The control device (120) being set up to provide control and/or regulation signals for the height adjustment device (130) as a function of position signals supplied by the position detection device (110). Distribution machine (10) according to any one of the preceding claims, characterized in that - a rotational position of the central part (15) about the pivot axis (30) running in the direction of travel (FR) can be directly or indirectly changed or blocked by means of one or more actuators, - wherein the control device (120) is set up to provide actuating signals for the actuating devices (28) taking into account a defined and/or definable rotational position, preferably in such a way that actuating movements are only carried out when the rotational position of the distribution linkage (12) and/or in a rotational position of the distribution linkage (12) oriented perpendicularly to the carrier vehicle (16). Spreading machine (10) according to one of the preceding claims, characterized in that a defined asynchronous folding takes place in such a way that the width of the linkage segments (14; 14a-14g) located up the slope (52) is always greater than one in relation to the central part (15). Width of the linkage segments (14; 14a-14g) located down the slope (54). Method for controlling and/or regulating an agricultural distribution machine (10), preferably a field sprayer or pneumatic fertilizer spreader, at least comprising - a carrier vehicle (16), with an inclination detection device (100), which is set up to detect an inclination of the carrier vehicle (16), preferably transversely to the direction of travel (FR), - A distribution linkage (12) for spreading material, such as fertilisers, pesticides or seeds, with a plurality of linkage segments (14; 14a-14g) which are connected to one another by means of joints (26) and which can each be moved into an unfolded working position by means of motorized actuating devices (28). and a folded-up transport position can be folded together, with at least one linkage segment (14; 14a-14g) forming a central part (15) which is arranged directly or indirectly on the carrier vehicle (16) so that it can be moved at least about a pivot axis (30) running in the direction of travel (FR). is, - a control device (120) for providing control signals for the control devices (28), - A position detection device (110) which is set up to supply position signals to the control device (120) on the basis of positions of the linkage segments (14; 14a-14g), characterized by providing actuating signals for the actuating devices (28) as a function of a detected inclination of the carrier vehicle (16) in such a way that adjusting movements are carried out by means of the adjusting devices (28) in such a way that an at least approximately synchronous and/or defined asynchronous folding of at least two linkage segments (14; 14a-14g) relative to the central part (15 ) is performed.

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